Active Disturbance Rejection Controller Based Heading Control of Underwater Flight Vehicles

被引：1
作者：
Zheng T. [1 ]
Feng Z. [1 ,2 ]
Zhao S. [1 ]
Pan W. [2 ]
机构：
[1] School of Naval Architecture, Ocean and Civil Engineering, New Orleans
[2] Collaborative Innovation Center for Advanced Ship and Deep Sea Exploration, Shanghai Jiao Tong University, Shanghai
来源：
Journal of Shanghai Jiaotong University (Science) | 2020年 / 25卷 / 04期
关键词：
A; active disturbance rejection control (ADRC); chattering; extended state observer (ESO); P; 756; total disturbance; tracking-differentiator (TD); underwater flight vehicle (UFV);
D O I：
10.1007/s12204-020-2194-z
中图分类号：
学科分类号：
摘要：
The total disturbance estimated by the extended state observer (ESO) in active disturbance rejection controller (ADRC) is affected greatly by measurement noise when the control step is small in heading control of underwater flight vehicles (UFVs). In order to prevent rudder from high-frequency chattering caused by measurement noise, a tracking-differentiator (TD) is integrated to the ESO to develop an improved ADRC scheme. The improved ADRC suppresses the impact of sensor noise. Both the results of simulations and tank tests show the effectiveness of improved ADRC based heading control. © 2020, Shanghai Jiao Tong University and Springer-Verlag GmbH Germany, part of Springer Nature.
引用
收藏
页码：441 / 446
页数：5
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